JP6837786B2 - Navigation devices, navigation methods and navigation programs. - Google Patents

Description

The present invention relates to, for example, a navigation device capable of appropriately specifying its own current position to be displayed on a map, a navigation method and a navigation program used in the navigation device.

Automotive navigation devices are installed and used in many automobiles. In addition, with the spread of high-performance mobile phone terminals called smartphones and portable information terminals called tablet PCs (Personal Computers), automobile navigation devices realized by using these have come to be used. There is. In these automobile navigation devices, GPS (Global Positioning System) is usually used to determine the current position of the automobile on which the vehicle is mounted.

The current position determined by GPS may deviate from the actual position of the automobile because some errors are included. Therefore, in the navigation device for automobiles, a technique called map matching is used in which the current position determined by GPS is corrected to a place considered to be optimal by using information related to a map (map data or road network data). That is, map matching is a technique for correcting an error included in the current position measured by GPS by comparing it with information related to a map.

However, using map matching can cause problems. For example, suppose you are driving on a freeway and stop at a service area or parking area. In this case, the current position determined by the GPS of the automobile navigation device may be a position away from the expressway, and the position of the own vehicle may be positioned on a general road (so-called road) running parallel to the expressway. It was. In this case, it is difficult to automatically return the current position of the vehicle to the highway, and manual operations such as resetting the route setting are required.

Therefore, Patent Document 1 described later discloses an invention relating to a current position calculation device that is a device that uses GPS and map matching in combination and can suppress map matching. The current position calculation device of the invention disclosed in Patent Document 1 can suppress map matching between a vehicle traveling on a highway entering a service area or a parking area and returning to the main line. It can be done.

Japanese Unexamined Patent Publication No. 8-334366

The problem that occurs when the above-mentioned GPS and map matching are used together occurs not only when entering a service area or a parking area on an expressway, but also on a general road. If a car equipped with a car navigation device that uses both GPS and map matching enters the parking lot of a convenience store along the road, for example, the current position of the car will be positioned on the surrounding road. In some cases. As described above, the actual position of the automobile and the position of the automobile displayed on the navigation device are different from each other, which is not preferable.

In addition, it is assumed that the car navigation device is parked in the parking lot of a convenience store along the road when the route is being guided, and the parking position is close to the road that intersects the road on which the vehicle should be driven. .. In this case, it is considered that the position of the own vehicle may be positioned on the road that intersects the road on which the vehicle should originally travel due to map matching. In such a case, it is determined that the route is deviated from the route being guided, the reroute function is activated, and there is a possibility that unnecessary route guidance is performed.

Therefore, it is conceivable to apply the invention described in Patent Document 1 described above. However, in the case of the invention described in Patent Document 1, the service area and the parking area are always provided with an entrance for entering them from the expressway and an exit for returning to the expressway at separate positions. These areas are identified by utilizing the feature of being present (paragraphs [0081] to [0083], FIG. 11). Then, whether or not the own vehicle has entered the service area or the parking area is determined by whether or not the own vehicle has turned in these areas (paragraphs [0084] to [0091], FIG. 12).

Although the method disclosed in Patent Document 1 can determine whether or not a person has entered a service area or a parking area attached to an expressway, it can be used in a parking lot of a facility such as a convenience store along a general road. It is not possible to determine whether or not it has entered. Parking lots of facilities such as convenience stores along ordinary roads do not have the characteristic that the entrance and exit are separated like the service area and parking area of the highway, and the car turns to enter the parking lot. In most cases it is not necessary. For this reason, it is desirable to be able to appropriately suppress map matching by the simplest possible method even on ordinary roads.

In view of the above, it is an object of the present invention to eliminate the inconvenience that occurs when GPS and map matching are used together in a navigation device so that the current position of the user can be appropriately grasped.

In order to solve the above problems, the navigation device of the invention according to claim 1 is
Current position positioning means for positioning the current position and
A map matching means that corrects the current position determined by the current position positioning means based on information about the map, and a map matching means.
Speed acquisition means to acquire the movement speed of your own machine in sequence,
An angle difference acquisition means for sequentially acquiring the angle difference between the traveling direction from the direction acquiring means for sequentially acquiring the traveling direction of the own aircraft and the link orientation which is the continuing direction of the road on which the own aircraft is moving.
In the case of the normal mode in which the current position of the own machine is corrected and used by the map matching means, the moving speed acquired by the speed acquiring means is equal to or less than a predetermined first speed, and The angle difference acquired by the angle difference acquisition means is equal to or greater than a predetermined first angle, and the current position corrected by the map matching means has turned right or left based on the information about the map. If it is determined that the vehicle is not on the road near the intersection immediately after, the correction of the current position by the map matching means is stopped, and the parking mode is switched to the parking mode in which the current position from the current position positioning means is used as it is. The first control means to control and
In the parking lot mode, the moving speed acquired by the speed acquisition means becomes faster than a predetermined second speed, and the angle difference acquired by the angle difference acquisition means is increased. When it is determined that the angle is smaller than the predetermined second angle, the correction of the current position by the map matching means is restarted, and the current position of the own machine is corrected by the map matching means. It is equipped with a second control means that controls to switch to the mode.
The second control means maintains the state when the power was turned off when the power was turned off while in the parking lot mode, and when the power was turned on again, the second control means maintained the state when the power was turned off. It is characterized by resuming processing from the state of being in the parking lot mode.

According to the present invention, in the navigation device, the inconvenience that occurs when GPS and map matching are used in combination can be eliminated, and the current position of the user can be appropriately grasped.

It is a block diagram for demonstrating the configuration example of the navigation apparatus of embodiment. It is a figure for demonstrating road network data. It is a figure for demonstrating an example of a map display in a navigation device. It is a figure for demonstrating the detection example when the present position deviates from a road (link) in a navigation device. It is a figure for demonstrating the detection example when the present position which deviated from a road (link) returns to a road (link) in a navigation device. It is a flowchart for demonstrating the outline of the map display process. It is a flowchart for demonstrating the mode switching process performed in the map display process.

Hereinafter, an embodiment of the apparatus, method, and program according to the present invention will be described with reference to the drawings. The devices, methods, and programs of the present invention are mainly applied to navigation devices for automobiles. Automotive navigation devices are realized by those that are always installed in automobiles, small ones called PNDs (Portable Navigation Devices) that can be easily attached to and detached from automobiles, and portable information terminals. There are things. The mobile information terminal includes a high-performance mobile phone terminal called a smartphone or the like, a tablet PC (Personal Computer) or the like.

The device, method, and program of the present invention are applicable to any of the above navigation devices. However, in the embodiments described below, in order to simplify the explanation, the device, method, and program according to the present invention are applied to a navigation device for an automobile realized by using a high-performance mobile phone terminal called a smartphone or the like. This case will be described as an example.

[Configuration example of automobile navigation device]
FIG. 1 is a block diagram for explaining a configuration example of an automobile navigation device (hereinafter, simply referred to as a navigation device) of this embodiment. In the navigation device shown in FIG. 1, the transmission / reception antenna 101A and the wireless communication unit 101 realize a communication function. Although not shown, the control unit 102 is a computer device unit configured by connecting a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAN (Random Access Memory) via a bus, and each part of the navigation device is configured. Realize the function to control. The operation unit 103 is a portion provided with a power on / off switch, some function buttons, and the like.

The storage device 104 includes a non-volatile memory having a relatively large storage capacity, for example, a flash memory, and writes data to the memory, stores the data, reads data from the memory, and stores the data in the memory. Erase the data that has been created. The navigation device of this embodiment includes a map information DB 1041, a road network DB (referred to as a network DB in FIG. 1) 1042, and a work area 1043 in the memory of the storage device 104. The characters "DB" in the map information DB 1041 and the road network DB 1042 are abbreviations for "Data Base".

The map information DB 1041 stores map data for displaying a city map, a road map, a wide area map, a local map, and a national map used to show a user a movement route, a current position, and the like. The map data for displaying the city map, the road map, the wide area map, the local map, and the national map includes, for example, vector data, raster data, note (comment) data, and the like for drawing the map.

The network DB 1042 stores and holds road network data for automobiles. FIG. 2 is a diagram for explaining an example of road network data for automobiles stored in the network DB 1042. FIG. 2A shows an example of a road network. Road network data consists of node data and link data. Node data represents points such as landmarks, buildings, facilities, intersections, junctions, and bends. The link data indicates roads such as national roads and prefectural roads that automobiles can pass through, depending on the line segments connecting the node data. The network example shown in FIG. 2A is composed of four node data (N1 to N4) and four link data (L1 to L4).

FIG. 2B shows a configuration example of link data in the case of the network of the example shown in FIG. 2A. In each link data, the identification information (L1, L2, ...) Of each link, the identification information (N1, N2, ...) Of the nodes constituting the link, the link cost, and the link type are associated with each other. There is. Usually, the link cost is determined by the length (distance) of the link or the time required for passage.

Then, the link cost is referred to when searching for a route that minimizes the link cost by the so-called Dijkstra method. The link type indicates whether the link portion is a national road, a prefectural road, a city road, a private road, or the like. Then, in the case of the example shown in FIG. 2B, it is shown that the links L1, L3, and L4 are national roads, and the links L2 are prefectural roads.

FIG. 2C shows a configuration example of node data in the case of the network of the example shown in FIG. 2A. Each node data is associated with identification information (N1, N2, ...) Of each node, latitude and longitude information indicating the position of the node, and a node type. The node type indicates whether the node portion is an intersection, a branch point, or the like. Then, in the case of the example shown in FIG. 2C, it is shown that all the nodes N1 to N4 are intersections. The link data and the node data as described with reference to FIG. 2 are stored in the network DB 1042 and are used at the time of route search or the like.

The work area 1043 is used as a work area for various processes, such as temporarily storing the intermediate results of various processes and drawing a map image to be displayed on the display unit 108D. In addition, although not shown, the storage device 104 also has an area (area) for storing and holding an application program for executing various processes and data required for various processes.

The clock circuit 105 has a calendar function and provides a current date, a current day of the week, and a current time. The sensor unit 106 includes various sensors such as a 6-axis sensor and a geomagnetic sensor (direction sensor). The 6-axis sensor is a combination of a 3-axis acceleration sensor and a 3-axis gyro sensor, and can accurately detect the attitude of the own aircraft. In addition, the geomagnetic sensor can accurately detect the directions such as north, south, east, and west with reference to the own machine.

By the function of the sensor unit 106, it is possible to detect the posture of the own machine and the traveling direction (moving direction) of the own machine. As a result, the upper side of the display screen of the display unit 108D to be viewed by the user is set to the traveling direction of the own machine, and the map for navigation can be displayed on the display unit 108D.

The GPS antenna 107A and the GPS unit 107 realize the current position acquisition function. The touch panel 108 including the display unit 108D and the touch sensor 108S, the audio output unit 109, and the speaker 110 form a user interface. The display unit 108D can display a map and the current position of the own machine, and can display necessary guidance information. In addition, various guidance messages, alarm sounds, and the like can be emitted through the voice output unit 109 and the speaker 110.

Under the control of the control unit 102, the transmission information processing unit 111 forms a request for an external device such as a server on the Internet, and transmits this to the external device through the wireless communication unit 101 and the transmission / reception antenna 101A. I do. Under the control of the control unit 102, the reception information processing unit 112 analyzes the reception information addressed to the own unit received through the transmission / reception antenna 101A and the wireless communication unit 101, and performs a process of supplying necessary information to the control unit 102.

As a result, the transmission information processing unit 111 accesses, for example, the navigation service providing server and requests the provision of map data and road network data around the current position. In response to this, map data and road network data around the current position are transmitted from the navigation service providing server, and the reception information processing unit 112 receives them.

The reception information processing unit 112 stores the received map data and road network data in the map information DB 1041 and the network DB 1042 of the storage device 104 and makes them available. Then, the navigation processing unit 120, which will be described later, functions to display a map around the current position on the display unit 108D, and the current position of the own machine specified by the functions of the GPS unit 107 and the map matching unit 122, which will be described later, on the map. Can be displayed and provided to the user. In this case, the user can objectively grasp his / her current position on the map.

Further, the transmission information processing unit 111 accesses the navigation service providing server and forms a route search request including a departure place, a destination, and various route search conditions received through the touch panel 108. Then, the transmission information processing unit 111 transmits the route search request to the navigation service providing server.

In response to this, the navigation service providing server performs a route search process, forms information for notifying the search result, and transmits this to the requesting navigation device. The information for notifying the search result is, for example, information that displays the searched route on a map and enables selection by the user of the navigation device. The information is received through the reception information processing unit 112 and stored in, for example, the work area 1043 of the storage device 104.

Then, under the control of the control unit 102, the information for notifying the search result is displayed on the display unit 108D, and the selection input from the user of the navigation device is received through the touch panel 108. Then, the transmission information processing unit 111 forms a request for providing map data and road network data for guiding the selected route, including information indicating the selected route, and transmits this to the navigation service providing server.

In response to this, map data and road network data for guiding the selected route are transmitted from the navigation service providing server, and are received through the reception information processing unit 112. Then, the reception information processing unit 112 stores the received map data and road network data in the map information DB 1041 and the network DB 1042 of the storage device 104 and makes them available.

As a result, the navigation processing unit 120, which will be described later, functions and displays a map for route guidance on the display unit 108D. On the map, the route selected by searching is displayed, and the current position of the own machine specified by the functions of the GPS unit 107 and the map matching unit 122, which will be described later, is displayed. Then, route guidance is provided to the user by also using voice guidance and the like. That is, a navigation service is provided.

Next, the navigation processing unit 120 will be described. As shown in FIG. 1, the navigation processing unit 120 includes a route guidance processing unit 121, a map matching unit 122, a reroute processing unit 123, and a navigation control unit 124.

When the route guidance processing unit 121 is not providing route guidance, the route guidance processing unit 121 displays a map around the current position on the display unit 108D and displays a mark indicating the current position of the own machine on the map to indicate the current position of the own machine. Allow the user to objectively recognize the position. Further, when the route guidance processing unit 121 is performing route guidance, the route guidance processing unit 121 displays a map around the current position on the display unit 108D, and a mark indicating the route being guided and the current position of the own machine on the map. Is displayed to indicate the corner and so on to provide route guidance. In this case, the route guidance is performed by using both the display information such as a map and the voice message.

The map matching unit 122 corrects the current position of the own machine determined through the GPS unit 107 to a location considered to be optimal by using the road network data of the network DB 1042 and the map data of the map information DB 1041 as information related to the map. Do. As the map matching method, various methods such as geometric analysis map matching, topological geometric analysis map matching, stochastic map matching, and improved methods thereof can be used.

If the aircraft deviates from the set route during route guidance, the reroute processing unit 123 searches for a route from the current position to the destination again and resets the route from the current position to the destination. .. In the navigation device of this embodiment, necessary road network data is provided and stored in the network DB 1042. Therefore, the reroute processing unit 123 follows the current position, the destination, and the route search conditions previously received and held, and uses the road network data of the network DB 1042 to search and reset the route. Being able to do.

When the distance from the current position to the destination is long, the current position, the destination, and the route search condition can be transmitted to the navigation service providing server, and the route search can be requested again. In this case, a reroute search result can be obtained from the navigation service providing server and used as the result of the reroute process in the navigation device.

The navigation control unit 124 controls each unit of the navigation processing unit 120. The navigation control unit 124 controls the operation / non-operation of the map matching unit 122 and the reroute processing unit 123 according to the state of the own machine. That is, the navigation control unit 124 does not perform map matching processing or reroute processing until it is not necessary, so that the current position of the own machine can be more appropriately grasped and notified, and route guidance is provided. If so, we try not to perform unnecessary reroute processing.

[Example when map matching processing and reroute processing do not need to be performed]
FIG. 3 is a diagram for explaining an example of map display on a navigation device. Then, FIG. 3A shows an example of a case where the map matching process is unnecessary, and FIG. 3B shows an example of a case where the reroute process is unnecessary.

First, an example when the map matching process is unnecessary will be described. It is assumed that the navigation device of this embodiment is brought into an automobile (own vehicle), a route is set so as to perform a route search, a map is displayed on the display unit 108D, and route guidance is performed. In this case, as shown in FIG. 3A, the map and the set route RT are displayed on the display unit 108D of the navigation device, and the current position of the own vehicle (current position of the navigation device) is displayed. It will be displayed and route guidance will be provided.

Then, it is assumed that the own vehicle enters the parking lot of a convenience store (described as a convenience store in FIG. 3) along the route RT while traveling so as to follow the route RT. It is assumed that the actual current position of the own vehicle in this case is the position RP indicated by a black circle in the parking lot. However, it is considered that the position RP is corrected by the map matching process, and the current position of the own vehicle may be positioned at the position VP1 on the road (link) where the route RT is set, for example. Be done.

In the case of this example, although it is known that the user of the navigation device is in the parking lot (position RP), the map displayed on the display unit 108D indicates that the user is on the road (position VP1). Therefore, it may cause a feeling of strangeness. If possible, it is preferable that the actual current position of the vehicle in which the navigation device is brought in is the same as the current position of the vehicle displayed on the map. In this case, it is considered that the current position measured through the GPS unit 107 is used as it is without performing the map matching process, which is more in line with the actual current position. That is, in this case, it can be said that the map matching process is unnecessary.

Next, an example when the reroute process is unnecessary will be described. In this example as well, as in the case where the map matching process described above does not have to be performed, the navigation device of this embodiment is brought into the automobile (own vehicle), the route is set so as to perform the route search, and the map is used. Is displayed on the display unit 108D to provide route guidance. In this case, as shown in FIG. 3B, the map and the set route RT are displayed on the display unit 108D of the navigation device, and the current position of the own vehicle (current position of the navigation device) is displayed. Is displayed.

Then, it is assumed that the own vehicle enters the parking lot of a convenience store along the route RT while traveling so as to follow the route RT. It is assumed that the actual current position of the own vehicle in this case is the position RP indicated by a black circle in the parking lot. However, the position RP is corrected by the map matching process. In the map matching process in this case, for example, in consideration of the moving direction of the navigation device, as shown in FIG. 3B, the map matching process may be positioned at the position VP2 on the road in the direction intersecting the route RT. It is thought that there may be cases.

In this case, since the current position of the navigation device is recognized as the position VP2, for example, the reroute processing unit 123 recognizes that the route RT to be followed has deviated. Therefore, even though the user has just entered the parking lot of the convenience store along the route RT, the reroute process is performed and the route is changed unnecessarily. In the example shown in FIG. 3B, it is considered that a new route RE may be set and inconvenience may occur such that route guidance is performed so as to follow this detour route RE. It can be said that the reroute processing in this case is unnecessary reroute processing.

Therefore, in the navigation device of this embodiment, the function of the navigation control unit 124 makes it possible to appropriately determine whether the map matching process or the reroute process needs to be performed or not. Then, the map matching unit 122 and the reroute processing unit 123 are controlled so that the map matching process and the reroute process can be used as needed.

[Processing of navigation control unit 124]
By monitoring the moving speed and the traveling direction (moving direction) of the own machine, the navigation control unit 124 determines whether the current position of the own machine is off the road (link) or on the road (link). It is possible to properly distinguish whether it is in the road. Then, when the current position of the own machine deviates from the road, the navigation control unit 124 does not perform the map matching process and controls the parking lot mode so that the current position from the GPS unit 107 is used as it is. Further, when the current position of the own machine is on the road, the navigation control unit 124 controls so as to be in the normal mode in which the map matching process is performed.

As described above, in this specification, the mode in which the map matching process is not performed and the current position from the GPS unit 107 is used as it is is referred to as a "parking lot mode". Further, a mode in which the current position determined through the GPS unit is corrected by the map matching unit 122 and used is called a "normal mode". In the following, how to detect when the current position on the road deviates from the road (link), which is necessary to switch between these modes, and the current position deviated from the road are on the road. Each of the detection methods when returning to is explained in detail.

[Detection example when the current position on the road deviates from the road]
FIG. 4 is a diagram for explaining a detection example when the current position on the road (link) deviates from the road (link) in the navigation device of this embodiment. In FIG. 4, it is assumed that an automobile carrying the navigation device of this embodiment is traveling on the link L2 connecting the node N2 and the node N3. In this case, in the navigation device, the GPS unit 107 and the map matching unit 122 are functioning, and the current position determined through the GPS unit 107 is the link L2 in which the vehicle (own vehicle) brought in by the vehicle is traveling. It is corrected to the upper position.

In FIG. 4, the positions P1, P2, and P3 indicated by black circles on the link L2 are the current positions after the map matching process that are sequentially acquired. Further, the times t1, t2, and t3 are the acquisition times of the positions P1, P2, and P3, which are acquired through the clock circuit 105 of the navigation device. Further, the directions Gd1, Gd2, and Gd3 are the traveling directions of the own machine at the time of acquisition of the positions P1, P2, and P3, and are acquired through the sensor unit 106 of the navigation device.

Then, as shown in FIG. 4, since the current positions P1, P2, and P3 of the own machine are specified, the distance d1 between the position P1 and the position P2 and the distance d2 between the position P2 and the position P3 are specified. Thus, the distance between the acquired current positions can be specified. Then, as shown in the calculation formula of FIG. 4, the moving speed S1 between the position P1 and the position P2 and the moving speed S2 between the position P2 and the position P3 can be obtained by calculation. Therefore, the navigation control unit 124 sequentially obtains the moving speed between the current positions acquired by the own machine.

Then, as shown by the arrow Z in FIG. 4, it is assumed that the own vehicle decelerates and enters the parking lot of the convenience store along the road (link) L2 on which the vehicle is traveling. In this case, the vehicle decelerates sufficiently, confirms safety, and invades the parking lot of the convenience store. Therefore, the navigation control unit 124 sets the latest moving speed of the vehicle between the position P2 and the position P3. It is detected that the moving speed S2 becomes, for example, 20 km / h or less. In this case, the navigation control unit 124 further obtains an angle difference θ between the traveling direction Gd3 of the own machine at that time and the link direction which is the direction in which the traveling road (link) continues. It can be said that this angle difference θ is the angle formed by the traveling direction Gd3 of the own aircraft and the link direction.

When the angle difference θ is, for example, 40 degrees or more, the navigation control unit 124 can determine that there is a possibility that the vehicle has turned right or left and has deviated from the traveling road (link). However, it is possible that you just turned an intersection, and in this case you cannot say that you are off the road (link). It should be noted that whether to turn left or right can be determined according to which direction the angle difference has occurred, but here, it does not matter whether the turn is left or right.

Then, the navigation control unit 124 refers to the network DB 1042 based on the latest current position P3, and determines whether or not the current position P3 is on the road (intersection link) near the intersection immediately after turning right or left at the intersection. To do. In the case of the example shown in FIG. 4, the current position P3 is far in front of the node N3, which is the intersection, and is not on the intersection link. Therefore, the navigation control unit 124 can determine that the latest current position P3 is not on the road (intersection link) near the intersection, that is, the aircraft is off the road (link) on which the vehicle is traveling.

In this case, the navigation control unit 124 controls the map matching unit 122 so that the map matching process is not performed. Further, when the route is being guided, the navigation control unit 124 controls the reroute processing unit 123 so that the reroute processing is not performed. As a result, the navigation device enters the parking lot mode in which the current position determined through the GPS unit 107 is used as the current position of the own machine. Therefore, in FIG. 4, as shown in the position P4, the current position of the navigation device (the position of the own vehicle in which the navigation device is brought in) can be displayed as being in the parking lot of the convenience store.

[Detection example when the current position off the road returns to the road]
FIG. 5 is a diagram for explaining a detection example when the current position deviated from the road (link) returns to the road (link) in the navigation device of this embodiment. In FIG. 5, the vehicle entering the parking lot of the convenience store along the road (link) L2 returns to the road (link) L2, and further, on the road (link) Lx connecting the node N3 and the node Nx (not shown). Suppose you are driving.

In this case, in the navigation device, the map matching unit 122 and the reroute processing unit 123 are stopped by the control of the navigation control unit 124 described with reference to FIG. That is, the parking lot mode is such that the current position determined through the GPS unit 107 is used as it is. Therefore, since the current position of the own aircraft has been subjected to map matching processing, as shown by the positions P5, P6, P7, and P8 indicated by the black circles in FIG. 5, the current position is slightly deviated from the roads (links) L2 and Lx. It is in position.

Further, the times t5, t6, t7, and t8 are the acquisition times of the positions P5, P6, P7, and P8, and are acquired through the clock circuit 105 of the navigation device. Further, the directions Gd5, Gd6, Gd7, and Gd8 are the traveling directions of the own machine at the time of acquisition of the positions P5, P6, P7, and P8, and are acquired through the sensor unit 106 of the navigation device.

Also in the case of this example, as shown in the calculation formula in FIG. 5, the navigation control unit 124 has a moving speed S5 between the position P5 and the position P6, and a moving speed S6 between the position P6 and the position P7. The moving speed S7 between the position P7 and the position P8 can be calculated. Therefore, the navigation control unit 124 sequentially obtains the moving speed between the current positions acquired by the own machine. A car (own car) leaving a convenience store parking lot usually accelerates gradually when returning to the road (link).

Therefore, it is assumed that the navigation control unit 124 detects that the moving speed S7 between the position P7 and the position P8 has become, for example, 25 km / h or more as the latest moving speed of the own machine. The navigation control unit 124 further obtains an angle difference θ between the traveling direction Gd8 of the own machine at that time and the link direction which is the direction in which the traveling road (link) continues. In other words, this angle difference θ is the angle formed by the traveling direction Gd8 of the own aircraft and the link direction. When the angle difference θ is, for example, 20 degrees or less, the navigation control unit 124 determines that the own aircraft that has been off the road (link) has returned to the road (link) and resumed traveling.

In this way, when it is determined that the own aircraft that has been off the road (link) has returned to the road (link) and resumed traveling, the navigation control unit 124 controls the map matching unit 122 to perform map matching. Try to resume processing. As a result, the navigation device transitions from the parking lot mode to the normal mode. Further, when the route is being guided, the navigation control unit 124 controls the reroute processing unit 123 and restarts the reroute processing.

As a result, in the navigation device, the current position determined through the GPS unit 107 is map-matched by the map matching unit 122. Therefore, in FIG. 5, as shown in position P9, the current position of the navigation device (the position of the vehicle in which the navigation device is brought in) may be shown as being on the road (link) Lx on which the navigation device is traveling. it can.

As described above, the navigation device of this embodiment can appropriately detect the case where the current position on the road deviates from the road and the case where the current position deviated from the road returns to the road. That is, this means that it is possible to appropriately determine whether the aircraft is located on the road (link) or off the road (link).

Then, when the navigation device of this embodiment detects that the current position on the road is off the road, the navigation device can shift the own aircraft from the normal mode to the parking lot mode. In this case, the current position determined through the GPS unit 107 can be used as it is. In addition, when it is detected that the current position off the road has returned to the road, the aircraft can be changed from the parking lot mode to the normal mode. In this case, the current position determined through the GPS unit 107 can be corrected by the map matching unit 122, and the corrected current position can be used.

[Summary of navigation device processing]
FIG. 6 is a flowchart for explaining a map display process performed by the navigation device of this embodiment. The process shown in FIG. 6 is mainly executed by the control unit 102 when the power is turned on to the navigation device and the map is displayed on the display unit 108D. When the map is displayed on the display unit 108D, the route guidance may not be provided or the route guidance may be provided.

When route guidance is not performed, a map including the current position and the current position are displayed on the display unit 108D so that the user's position can be confirmed. It is in this state. In addition, when performing route guidance, it is possible to search for a route, set a route, display a map including the current position on the display unit 108D, the set route, and the current position, and follow the set route. This is a case of providing guidance so that it can be done.

First, the control unit 102 controls the navigation control unit 124 of the navigation processing unit 120 to start the map matching process (step S101). In step S101, the navigation control unit 124 controls the map matching unit 122 and starts a process of correcting the current position determined through the GPS unit 107 by using the road network data of the network DB 1042 and the map data of the map information DB 1041.

Next, the control unit 102 determines whether or not the route guidance is performed (step S102). In the determination process of 102, an operation for performing route guidance is performed by the user, and the determination can be made by, for example, confirming whether or not a route is set in the work area of the storage device 104. When it is determined in the determination process of step S102 that the route guidance is to be performed, the control unit 102 controls the reroute processing unit 123 via the navigation control unit 124 and turns on the reroute function (step S103). .. As a result, the reroute process is also performed as needed.

After the process of step S103 and in the determination process of step S102, when it is determined that the route guidance is not performed, the control unit 102 controls the navigation control unit 124 and the route guidance processing unit 121 to map. The display process is started (step S104). In this step S104, the navigation control unit 124 functions to start a process of calculating the moving speed S of the own machine and the angle difference θ between the traveling direction of the own machine and the link direction which is the continuing direction of the traveling road. Let me.

Next, the control unit 102 controls the navigation control unit 124 to perform the mode switching process (step S105). The process of step S105 is a process of switching between the normal mode and the parking lot mode by detecting whether the own machine is on the road or off the road. Details of the mode switching process executed in step S105 will be described later.

After the process of step S105, the control unit 102 determines whether or not the map display process is terminated (step S106). In step S106, for example, when the main power of the navigation device is turned off or an interrupt process for displaying the image of the television broadcast program received through a receiver (not shown) occurs on the display unit 108D, the map display process is performed. Determines that it has been set to terminate.

When it is determined in the determination process of step S106 that the map display process is not finished, the process from step S105 is repeated. Further, it is assumed that in the determination process of step S106, it is determined that the map display process is terminated. In this case, the control unit 102 executes end processing such as stopping the processing in each unit of the navigation processing unit 120 through the navigation control unit 124 (step S107), and ends the processing shown in FIG. ..

[Details of mode switching process]
FIG. 7 is a flowchart for explaining the mode switching process executed in step S105 of the map display process described with reference to FIG. The process of the flowchart shown in FIG. 7 is a process executed by the navigation control unit 124 under the control of the control unit 102.

First, the navigation control unit 124 sets the movement speed S to be equal to or less than the first threshold value Sth and the angle difference θ is based on the result of the calculation process of the movement speed S and the angle difference θ started in step S104 of FIG. Determines whether or not is equal to or greater than the first threshold value θth (step S201). In the determination process of step S201, as described with reference to FIG. 4, whether or not a vehicle traveling on the road (link) may have entered the parking lot along the road (entering the parking lot). It is a process of determining (whether or not such an operation has been taken).

In the determination process of step S201, when it is determined that the movement speed S is equal to or less than the first threshold value Sth and the condition that the angle difference θ is equal to or more than the first threshold value θth is not satisfied, the normal mode is set. While maintaining (step S203), the process shown in the flowchart of FIG. 7 is exited. In this case, the map matching process is continuously performed.

When it is determined in the determination process of step S201 that the movement speed S is equal to or less than the first threshold value Sth and the angle difference θ is equal to or greater than the first threshold value θth, the navigation control unit 124 determines that the road network of the network DB 1042 With reference to the data and the map data of the map information DB, it is determined whether or not the current position is on the intersection link (step S202). In step S202, it is determined whether or not the current position is on the road (intersection link) near the intersection immediately after turning left or right. In this case, the intersection (node) exists on the side opposite to the traveling direction.

In the determination process of step S202, when it is determined that the current position is not on the intersection link, the normal mode is maintained (step S203), and the process shown in the flowchart of FIG. 7 is exited. In this case, the map matching process is continuously performed.

In the determination process of step S202, when it is determined that the current position is not on the intersection link, it can be considered that the vehicle has entered the parking lot along the road (link), so that the navigation control unit 124 switches to the parking lot mode. (Step S204). In step S204, the navigation control unit 124 controls the map matching unit 122 to stop the map matching process and use the current position determined by the GPS unit 107 as it is. Further, the navigation control unit 124 controls the reroute processing unit 123 to turn off the reroute function when the route is being guided. As a result, the reroute process is prevented from being performed, so that unnecessary execution of the reroute process can be avoided.

Next, the navigation control unit 124 sets the movement speed S to the first threshold value Sxth or more and the angle difference based on the result of the calculation process of the movement speed S and the angle difference θ started in step S104 of FIG. It is determined whether or not θ is equal to or less than the second threshold value θxth (step S205). As described with reference to FIG. 5, the determination process in step S205 is a process for determining whether or not an automobile off the road (link) has returned to the road (link).

It is assumed that the determination process in step S205 does not satisfy the condition that the moving speed S is equal to or greater than the second threshold value Sxth and the angle difference θ is equal to or less than the second threshold value θxth. In this case, since the own vehicle is off the road (link), the parking lot mode is maintained (step S206), and the process from step S205 is repeated.

Further, it is assumed that in the determination process of step S205, it is determined that the moving speed S is equal to or greater than the second threshold value Sxth and the angle difference θ is equal to or less than the second threshold value θxth. In this case, the navigation control unit 124 determines that the aircraft has returned to the road (link), and performs a process of switching from the parking lot mode to the normal mode (step S207).

In step S207, the navigation control unit 124 controls the map matching unit 122 to restart the map matching process. As a result, the map matching unit 122 corrects the current position determined through the GPS unit 107 by using the road network data of the network DB 1042 and the map data of the map information DB 1041, and uses the corrected current position. Further, the navigation control unit 124 controls the reroute processing unit 123 to turn on the reroute function when the route is being guided. As a result, when the route deviates from the set route, the reroute process is performed as necessary, so that the guidance to the destination can be continued appropriately.

After the process of step S207, the process shown in FIG. 7 is skipped and the process returns to the process shown in FIG. If you deviate from the road (link), for example, enter the parking lot of a facility along the road, stop the engine of your vehicle to stop for a while, and turn off the power, the navigation control unit 124 will The state when the power is turned off can be maintained, and the process can be restarted from step S205 in FIG.

As a result, when the navigation control unit 124 is in the parking lot mode and the power is turned off, the mode switching process can be restarted from the parking lot mode state. Therefore, it is possible to display the map from the state where the own vehicle is parked.

[Effect of Embodiment]
The navigation device of this embodiment has a map matching function and a reroute function. Then, depending on whether the current position of the vehicle brought in by the aircraft is on the road (link) or off the road (link), whether to use the map matching function or the reroute function or not is used. Can be switched appropriately. This avoids the inconvenience that the car brought in by the aircraft stops at the parking lot along the road, but the map matching function displays the current position of the aircraft as if it were located on the road. it can.

Further, when the vehicle leaves the parking lot along the road and returns to the state of traveling on the road (link), this can be automatically detected and the map matching function can be used. As a result, it is possible to prevent the inconvenience that the current position is displayed in a place different from that on the road (link) even though the vehicle is traveling on the road (link).

In addition, the current position of the vehicle brought in by the vehicle is properly determined whether it is on the road (link) or off the road (link), and the normal mode and the parking lot mode are switched. Therefore, the mode will not be switched carelessly.

[Modification example]
In the above-described embodiment, when it is detected that the moving speed S is 20 km / h or less and the angle difference θ is 40 degrees or more, the current position on the road (link) is on the road (link). I tried to determine that it was out of the range. Further, when it is detected that the moving speed S becomes 25 km / h or more and the angle difference θ becomes 20 degrees or less, it is determined that the current position off the road (link) has returned to the road (link). I tried to do it. However, the threshold value for the moving speed S and the threshold value for the angle difference θ, which is not limited to this, can be set to appropriate values.

In addition, when it is detected that the current position on the road (link) has deviated from the road (link), and when the current position deviated from the road (link) has returned to the road (link). The same threshold value can be used for detection. For example, when it is detected that the moving speed S is 20 km / h or less and the angle difference θ is 40 degrees or more, it is determined that the current position on the road (link) is off the road (link). .. On the other hand, when it is detected that the moving speed S becomes faster than 20 km / h and the angle difference θ becomes smaller than 40 degrees, it is determined that the current position off the road (link) has returned to the road (link). You can also do it.

However, when it is detected that the current position on the road (link) has deviated from the road (link), and when the current position deviated from the road (link) has returned to the road (link). By using different threshold values for the movement speed S and the angle difference θ with respect to the case of detection as in the above-described embodiment, each case can be more appropriately determined.

Further, in the above-described embodiment, the case where the present invention is applied to an automobile navigation device has been described as an example, but the present invention is not limited to this. The present invention can be applied to various navigation devices that move on a link, such as a pedestrian navigation device and a bicycle navigation device, and that use a map matching function to correct the current position of GPS.

Further, in the above-described embodiment, the current position is determined through the GPS unit 107, but the present invention is not limited to this. For example, when the current position can be specified by using the sensor output from the sensor unit 106 and autonomous navigation can be realized, the present invention can be used even when the current position specified by the autonomous navigation is corrected by map matching processing. Applicable. That is, the present invention can be applied when the current position acquired by various methods such as GPS and autonomous navigation function is corrected by map matching processing.

Further, in the above-described embodiment, the moving speed of the own machine is calculated by using the current position acquired by the GPS unit 107 and the time acquired through the clock circuit 105, but the present invention is limited to this. is not it. For example, if the moving speed of the own machine can be detected accurately by the function of the sensor unit 106, the moving speed from the sensor unit 106 may be used. Further, when the speed information provided by the automobile can be provided by wire or wirelessly, the speed information from the automobile may be used as the moving speed of the own aircraft.

Further, the map matching unit 122 of the navigation device of the above-described embodiment has been described as performing the map matching process by using the map data of the map information DB 1041 and the road network data of the network DB 1042 as information related to the map. However, it is not limited to this. If it is possible to correct only one of the map data of the map information DB 1041 and the road network data of the network DB 1042 in order to correct the current position acquired by GPS or the like, the map is based on only one of the data. Matching processing may be performed.

Further, in the above-described embodiment, for example, the position of the own vehicle in the parking lot is indicated by a mark such as a black circle, but the present invention is not limited to this. For example, using the map data of the map information DB 1041, it is possible to indicate the parking place of the own vehicle, which is the current position of the own aircraft, by text information such as "inside the XX parking lot" and "convenience store XX store". .. In addition, the area including the current position of the own machine may be highlighted or highlighted to indicate where the user is. In this way, the GPS error can be absorbed.

Further, in the above-described embodiment, it has been described that the traveling direction is detected by the function of the sensor unit 106 of the navigation device, but the present invention is not limited to this. For example, the current position sequentially acquired through the GPS unit 107 is held by plotting it on a map, for example. Then, the direction from the previous current position to the current current position can be specified as the traveling direction of the own aircraft, and the specified traveling direction can be used. In this case, it is not necessary to provide the navigation device with the current position to be plotted on the map, which is a so-called background process.

[Other]
As can be seen from the description of the above-described embodiment, the functions of the current position positioning means of the navigation device are realized by the GPS unit 107 and the GPS antenna 107A. Further, the function of the map matching means of the navigation device is realized by the map matching unit 122. Further, the function of the speed acquisition means of the navigation device is realized by the GPS unit 107, the clock circuit 105, and the navigation control unit 124 in cooperation with each other. Further, the function of the direction acquisition means of the navigation device is mainly realized by the sensor unit 106. Further, the function of the angle difference acquisition means is realized by the navigation control unit 124. Further, the functions of the first and second control means are realized by the navigation control unit 124. Further, the function of the reroute means of the navigation device is realized by the reroute processing unit 123 . Further, the functions of the display control means are realized by the control unit 102 and the display unit 108D.

Further, the method described with reference to the flowcharts of FIGS. 6 and 7 is to which one embodiment of the navigation method according to the present invention is applied. Further, the program that performs the processing described with reference to the flowcharts of FIGS. 6 and 7 is the one to which one embodiment of the navigation program according to the present invention is applied.

101 ... Transmission / reception antenna, 101A ... Wireless communication unit, 102 ... Control unit, 103 ... Operation unit, 104 ... Storage device, 1041 ... Map information DB, 1042 ... Network DB, 1043 ... Work area, 105 ... Clock circuit, 106 ... Sensor Unit, 107 ... GPS unit, 107A ... GPS antenna, 108D ... display unit, 108S ... touch sensor, 108 ... touch panel, 109 ... audio output unit, 110 ... speaker, 111 ... transmission information processing unit, 112 ... reception information processing unit, 120 ... Navigation processing unit, 121 ... Route guidance processing unit, 122 ... Map matching unit, 123 ... Reroute processing unit, 124 ... Navigation control unit

Claims (7)

Current position positioning means for positioning the current position and
A map matching means that corrects the current position determined by the current position positioning means based on information about the map, and a map matching means.
Speed acquisition means to acquire the movement speed of your own machine in sequence,
An angle difference acquisition means for sequentially acquiring the angle difference between the traveling direction from the direction acquiring means for sequentially acquiring the traveling direction of the own aircraft and the link orientation which is the continuing direction of the road on which the own aircraft is moving.
In the case of the normal mode in which the current position of the own machine is corrected and used by the map matching means, the moving speed acquired by the speed acquiring means is equal to or less than a predetermined first speed, and The angle difference acquired by the angle difference acquisition means is equal to or greater than a predetermined first angle, and the current position corrected by the map matching means has turned right or left based on the information about the map. If it is determined that the vehicle is not on the road near the intersection immediately after, the correction of the current position by the map matching means is stopped, and the parking mode is switched to the parking mode in which the current position from the current position positioning means is used as it is. The first control means to control and
In the parking lot mode, the moving speed acquired by the speed acquisition means becomes faster than a predetermined second speed, and the angle difference acquired by the angle difference acquisition means is increased. When it is determined that the angle is smaller than the predetermined second angle, the correction of the current position by the map matching means is restarted, and the current position of the own machine is corrected by the map matching means. It is equipped with a second control means that controls to switch to the mode.
The second control means maintains the state when the power was turned off when the power was turned off while in the parking lot mode, and when the power was turned on again, the second control means maintained the state when the power was turned off. A navigation device characterized by resuming processing from a state in parking mode. The navigation device according to claim 1.
A navigation device including a display control means for distinguishing an area including the current position of the own aircraft on a map displayed on a display screen when in the parking lot mode. The navigation device according to claim 1.
A reroute means for resetting a new route from the current position to the destination when it is detected that the route deviates from the route when the route is guided to follow the set route to the destination. Prepare,
When switching to the parking lot mode, the first control means controls so as to stop the process by the reroute means if the route is being guided.
The second control means is a navigation device characterized in that when switching to the normal mode, when the processing by the reroute means is stopped, the processing by the reroute means is restarted. A current position positioning means for positioning the current position, a map matching means for correcting the current position determined by the current position positioning means based on map information, and a speed acquisition means for sequentially acquiring the moving speed of the own machine. And the angle difference acquisition means for sequentially acquiring the angle difference between the traveling direction from the direction acquiring means for sequentially acquiring the traveling direction of the own aircraft and the link orientation which is the continuing direction of the road on which the own aircraft is moving. It is a navigation method used in a navigation device equipped with and.
In the case of the normal mode in which the current position of the own machine is corrected and used by the map matching means, the moving speed acquired by the speed acquiring means is equal to or less than a predetermined first speed, and The angle difference acquired by the angle difference acquisition means is equal to or greater than a predetermined first angle, and the current position corrected by the map matching means has turned right or left based on the information about the map. If it is determined that the vehicle is not on the road near the intersection immediately after, the first control means stops the correction of the current position by the map matching means, and the current position from the current position positioning means is used as it is. The first control process that controls to switch to the parking mode, and
In the parking lot mode, the moving speed acquired by the speed acquisition means becomes faster than a predetermined second speed, and the angle difference acquired by the angle difference acquisition means is predetermined. If it can be determined that the angle is smaller than the second angle, the second control means restarts the correction of the current position by the map matching means, and corrects the current position of the own machine by the map matching means. It has a second control step of controlling to switch to the normal mode to be used.
In the second control step, when the power is turned off while in the parking lot mode, the state when the power is turned off is maintained, and when the power is turned on again, the state is maintained. A navigation method characterized by resuming processing from a state in parking mode. The navigation method according to claim 4.
The navigation device sets a new route from the current position to the destination when it detects that the route has deviated from the route when the route guidance is performed so as to follow the set route to the destination. It is equipped with rerouting means to re-do.
In the first control step, when switching to the parking lot mode, if the route is being guided, the process by the reroute means is controlled to be stopped.
In the second control step, when switching to the normal mode, when the process by the reroute means is stopped, the navigation method is controlled so as to restart the process by the reroute means. A current position positioning means for positioning the current position, a map matching means for correcting the current position determined by the current position positioning means based on map information, and a speed acquisition means for sequentially acquiring the moving speed of the own machine. And the angle difference acquisition means for sequentially acquiring the angle difference between the traveling direction from the direction acquiring means for sequentially acquiring the traveling direction of the own machine and the link direction which is the continuing direction of the road on which the own machine is moving. The computer installed in the navigation device equipped with
In the case of the normal mode in which the current position of the own machine is corrected and used by the map matching means, the moving speed acquired by the speed acquiring means is equal to or less than a predetermined first speed, and The angle difference acquired by the angle difference acquisition means is equal to or greater than a predetermined first angle, and the current position corrected by the map matching means has turned right or left based on the information about the map. If it is determined that it is not on the road near the intersection immediately after, the correction of the current position by the map matching means is stopped, and control is performed to switch to the parking lot mode in which the current position from the current position positioning means is used as it is. The first control step to do
In the parking lot mode, the moving speed acquired by the speed acquisition means becomes faster than a predetermined second speed, and the angle difference acquired by the angle difference acquisition means is predetermined. If it can be determined that the angle is smaller than the second angle, the map matching means restarts the correction of the current position, and the map matching means corrects the current position of the own machine to use the normal mode. Perform a second control step and control to switch,
In the second control step, when the power is turned off while in the parking lot mode, the state when the power is turned off is maintained, and when the power is turned on again, the state is maintained. A navigation program characterized by resuming processing from a state in parking mode. The navigation program according to claim 6.
The navigation device sets a new route from the current position to the destination when it detects that the route has deviated from the route when the route guidance is performed so as to follow the set route to the destination. It is equipped with rerouting means to re-do.
In the first control step, when switching to the parking lot mode, if the route is being guided, the process by the reroute means is controlled to be stopped.
In the second control step, when switching to the normal mode, when the processing by the rerouting means is stopped, the navigation program is controlled so as to restart the processing by the rerouting means.

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